相关论文: Evacuation from Various Types of Finite 2D Square …
We consider search in a finite 3D cubic grid by a metamorphic robotic system (MRS), that consists of anonymous modules. A module can perform a sliding and rotation while the whole modules keep connectivity. As the number of modules…
We consider exploration of finite 2D square grid by a metamorphic robotic system consisting of anonymous oblivious modules. The number of possible shapes of a metamorphic robotic system grows as the number of modules increases. The shape of…
A metamorphic robotic system (MRS) consists of anonymous modules, each of which autonomously moves in the 2D square grid by sliding and rotation with keeping connectivity among the modules. Existing literature considers distributed…
Distributed evacuation of mobile robots is a recent development. We consider the evacuation problem of two robots which are initially located at the center of a unit disk. Both the robots have to evacuate the disk through the exits situated…
Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…
Emergency evacuation describes a complex situation involving time-critical decision-making by evacuees. Mobile robots are being actively explored as a potential solution to provide timely guidance. In this work, we study a robot-guided…
Multirobot systems for covering environments are increasingly used in applications like cleaning, industrial inspection, patrolling, and precision agriculture. The problem of covering a given environment using multiple robots can be…
Assume that two robots are located at the centre of a unit disk. Their goal is to evacuate from the disk through an exit at an unknown location on the boundary of the disk. At any time the robots can move anywhere they choose on the disk,…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
We investigate the problem of creating fast evacuation plans for buildings that are modeled as grid polygons, possibly containing exponentially many cells. We study this problem in two contexts: the ``confluent'' context in which the routes…
This work deals with the Maximum Independent Set ($\mathcal{MIS}$) formation problem in a finite rectangular grid by autonomous robots. Suppose we are given a set of identical robots, where each robot is placed on a node of a finite…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…
Motivated by the applications of routing in PCB buses, the Rectangle Escape Problem was recently introduced and studied. In this problem, we are given a set of rectangles $\mathcal{S}$ in a rectangular region $R$, and we would like to…
This paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called the Multi-robot Systems (MRS) Drone that can be used in a large range of indoor and outdoor applications. The MRS Drone features unique modularity with…
Robot simulators are indispensable tools across many fields, and recent research has significantly improved their functionality by incorporating additional gradient information. However, existing differentiable robot simulators suffer from…
The limited energy capacity of individual robotic agents in a swarm often limits the possible cooperative tasks they can perform. In this work, we investigate the problem of covering an unknown connected grid environment (e.g. a maze or…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
Modular Aerial Robot Systems (MARS) consist of multiple drone modules that are physically bound together to form a single structure for flight. Exploiting structural redundancy, MARS can be reconfigured into different formations to mitigate…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…